Claude Monet / The Bridge at Argenteuil (1874)
Welcome to Yafei's Archive
I’m Yafei Ou, a researcher in robotics and AI. This site collects my ideas, thoughts, publications, code, and ongoing projects in medical robotics, simulation, and robot learning. Below are some screenshots of my representative works:
Introducing CRESSim-Neo: A GPU-Accelerated Simulation Engine for Surgical Robotics
2026-09-01
CRESSim-Neo is a GPU-native simulation engine for surgical robotics based on position-based dynamics (PBD) and GPU-resident dataflow.
981 words
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5 minutes
Ghost: 2 Big To Rig - Some Quick Thoughts
2026-08-31
Thoughts after watching Ghost: 2 Big To Rig (twice).
154 words
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1 minute
The Cost of Convenience: Ubuntu, Robotics, and the Loss of Control
2026-08-16
Over the past several years, I have become increasingly uncomfortable with two related trends: Linux becoming more centralized and opaque in the name of convenience, and robotics researchers becoming increasingly dependent on abstractions they often do not understand underneath.
3925 words
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20 minutes
Introducing CRESSim-Ultrasound
2026-08-15
A CUDA-only ultrasound simulation library, with a C API and deformation-aware scatterer tracking.
236 words
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1 minute
Simulation of Surgical Suturing Using Position-Based Dynamics and the Material Point Method for Robot Reinforcement Learning
2026-07-29
By Tleukhan Mussin, Yafei Ou, Mahdi Tavakoli. IEEE RAS/EMBS 11th International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2026.
247 words
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1 minute